rai-opensource · xzhu0428 · Oct 16, 2025 · Sep 30, 2025 · Oct 16, 2025 · Oct 16, 2025
diff --git a/LICENSE b/LICENSE
@@ -1,21 +1,13 @@
-MIT License
+RAI Institute Research License
 
-Copyright (c) 2025 Robotics and AI Institute
+© 2025 Robotics and AI Institute LLC d/b/a RAI Institute
 
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+  - Redistributions of source code must retain the copyright notice included with the software, this list of conditions and the following disclaimer.
+  - Redistributions in binary form must reproduce the copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+  - Modified versions of the software must be conspicuously marked as such.
+  - The software may only be used for non-commercial research purposes.  For profit enterprises may use the software, subject to this limitation.
 
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
+THIS SOFTWARE IS PROVIDED BY THE RAI INSTITUTE AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, NON-INFRINGEMENT, TITLE, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE AI INSTITUTE OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, PUNITIVE OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, DAMAGES ARISING OUT OF CLAIMS OF INTELLECTUAL PROPERTY RIGHTS INFRINGEMENT; PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
+This software is provided for research purposes only and is not designed or authorized for commercial use. Please be aware that the code could be missing certain features and functions and contain bugs and errors. There are no plans to provide maintenance or support for this software.
diff --git a/README.md b/README.md
@@ -14,6 +14,11 @@ This repository contains the official implementation for the paper "Versatile Lo
 
 *Our ReLIC policy enables a quadruped robot to walk with three legs and manipulate with the arm and one leg.*
 
+NEWS: Discover how ReLIC enables autonomous, dynamic whole-body manipulation through a sampling-based optimizer:
+[**Blog Post**](https://rai-inst.com/resources/blog/combining-sampling-and-learning-for-dynamic-whole-body-manipulation/) | [**X**](https://x.com/rai_inst/status/1978113805604258161) | [**YouTube**](https://www.youtube.com/watch?v=nM_ZHzp8nQA)
+
+> **Disclaimer:** This code is released as a research prototype and is not intended for production use. It may contain incomplete features or bugs. The RAI Institute does not provide maintenance or support for this software. Contributions via pull requests are welcome.
+
 ## Overview
 
 **Reinforcement Learning for Interlimb Coordination (ReLIC)** is an approach that enables versatile loco-manipulation through flexible interlimb coordination. The core of our method is a single, adaptive controller that learns to seamlessly coordinate all of a robot's limbs. It intelligently bridges the execution of precise manipulation motions with the generation of stable, dynamic gaits, allowing the robot to interact with its environment in a versatile and robust manner.
@@ -73,6 +78,3 @@ We use RSL_RL for RL training and adapt the following scripts from [IsaacLabExte
 - `scripts/rsl_rl`
 - `source/relic/pyproject.toml`
 - `source/relic/setup.py`
-
-## Disclaimer
-This code is provided as a research prototype and is not production-quality software. Please note that the code may contain missing features and potential bugs. As part of this release, the RAI Institute does not offer maintenance or support for the software.
diff --git a/scripts/rsl_rl/LICENSE b/scripts/rsl_rl/LICENSE
@@ -0,0 +1,30 @@
+Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+
+All rights reserved.
+
+SPDX-License-Identifier: BSD-3-Clause
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.